\hypertarget{structcalico_1_1Landmark}{}\doxysection{calico\+::Landmark Struct Reference}
\label{structcalico_1_1Landmark}\index{calico::Landmark@{calico::Landmark}}


{\ttfamily \#include $<$world\+\_\+model.\+h$>$}

\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structcalico_1_1Landmark_a1d638340859a07f0336a1e6508039b01}\label{structcalico_1_1Landmark_a1d638340859a07f0336a1e6508039b01}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structcalico_1_1Landmark_a1d638340859a07f0336a1e6508039b01}{point}}
\begin{DoxyCompactList}\small\item\em This landmark\textquotesingle{}s location in the world frame. $\mathbf{t}^w_{wx}$. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structcalico_1_1Landmark_a01ef29817882c1a955f9b6d3c5d84822}\label{structcalico_1_1Landmark_a01ef29817882c1a955f9b6d3c5d84822}} 
int \mbox{\hyperlink{structcalico_1_1Landmark_a01ef29817882c1a955f9b6d3c5d84822}{id}}
\begin{DoxyCompactList}\small\item\em Unique id for this landmark. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structcalico_1_1Landmark_a90536375cd28e2db13906118534c3225}\label{structcalico_1_1Landmark_a90536375cd28e2db13906118534c3225}} 
bool \mbox{\hyperlink{structcalico_1_1Landmark_a90536375cd28e2db13906118534c3225}{point\+\_\+is\+\_\+constant}}
\begin{DoxyCompactList}\small\item\em Flag for keeping this landmark\textquotesingle{}s point constant or as a free parameter. \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
{\ttfamily \mbox{\hyperlink{structcalico_1_1Landmark}{Landmark}}} object which represents a unique 3d point resolved in the world frame $\mathbf{t}^w_{wx_i}$. \mbox{\hyperlink{structcalico_1_1Landmark}{Landmark}} {\ttfamily id} must be unique. For optimization problems, set {\ttfamily world\+\_\+point\+\_\+is\+\_\+constant} to true if it is a free parameter that needs to be estimated, false otherwise. 

The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
calico/world\+\_\+model.\+h\end{DoxyCompactItemize}
